5.8. Interpolation tool

5.8. Interpolation tool

 

The interpolation reference setting is for selecting a tool that will be the reference for the manual jog-operation of the robot. The tool reference is available in 2 types, robot tool and stationary tool. In general, the interpolation reference is robot tool.

 

n Robot tool: Interpolation is done based on the tool attached to the robot’s end.

 

n Stationary tool: Interpolation is done based on the tool attached to the fixture such as the floor.

 

 

 

l When selecting the interpolation reference as stationary tool,  sign is displayed on the top and you must set the stationary tool coordinate system. Refer to the setting in 『[F2]: System』 → 『2: Control parameter』 → 『7: Coordinate Registration』 → 『2: Stationary tool coordinate』.

 

l To select the stationary tool number during AUTO operation, use the SELPTNO command.

 

l For details, refer to “Hi5a Controller Stationary Tool Interpolation Function Manual”.